Homing algorithm analysis of a cable-driven humanoid-arm manipulator

In order to solve the problem of error accumulation in motion control and determine the initial posture when restarting, this paper addresses a homing method without using external device, which is, completing self-homing work only depending on self-detected sensor information and the corresponding homing algorithm. As for the self-homing issue of cable-driven parallel robot, combining with the structural characteristics of the cable-driven parallel robot, incremental encoders together with limit switches are chosen as the homing detecting devices. On that basis, kinematics coupling features of the mechanism is analyzed and a novel homing algorithm, that is, an integral three-step method is proposed for origin positioning and automatic homing. Additionally, only one driven cable needs to be actively controlled in each step homing motion by decoupling control. Simulations and experiments have been performed to demonstrate the effectiveness of the homing algorithm, that is, the manipulator can return back to the initial posture dexterously and accurately.